void gl_program::create_program()
{
vector<string> uniforms;
program_id = glCreateProgram();
GLuint fragment_id = glCreateShader(GL_FRAGMENT_SHADER);
GLuint vertex_id = glCreateShader(GL_VERTEX_SHADER);
string vertex_shader = generate_vertex_shader(uniforms);
string fragment_shader = generate_fragment_shader(uniforms);
debug_flags(PRINT_SHADERS, "---------- Vertex Shader ----------\n%s\n", vertex_shader.c_str());
debug_flags(PRINT_SHADERS, "---------- Fragment Shader ----------\n%s\n", fragment_shader.c_str());
const char* _vertex_shader = vertex_shader.c_str();
const char* _fragment_shader = fragment_shader.c_str();
glShaderSource(fragment_id, 1, &(_fragment_shader), NULL);
glCompileShader(fragment_id);
glShaderSource(vertex_id, 1, &(_vertex_shader), NULL);
glCompileShader(vertex_id);
check_shader(fragment_id);
check_shader(vertex_id);
//Link all the things
glAttachShader(program_id, fragment_id);
glAttachShader(program_id, vertex_id);
glLinkProgram(program_id);
CHECK_GL_ERROR("Linking Program");
//Use the program
glUseProgram(program_id);
CHECK_GL_ERROR("Use Program");
//Add the IDs to array so they get deleted in cleanup
shader_ids.push_back(fragment_id);
shader_ids.push_back(vertex_id);
for (const string & cur : uniforms)
{
GLuint uniform_loc = glGetUniformLocation(program_id, cur.c_str());
uniform_locations.insert(make_pair(cur, uniform_loc));
CHECK_GL_ERROR("Getting Uniform Location for " + cur);
}
}
void AP_Scheduler::update_logging()
{
if (debug_flags()) {
perf_info.update_logging();
}
if (_log_performance_bit != (uint32_t)-1 &&
DataFlash_Class::instance()->should_log(_log_performance_bit)) {
Log_Write_Performance();
}
perf_info.set_loop_rate(get_loop_rate_hz());
perf_info.reset();
}
